A distributed cooperative control method for plane formation

Author

Zi-Liang Zhang ; Xin-Yi Yu ; Lin-Lin Ou

Author_Institution

Dept. of Autom., Zhejiang Univ. of Technol., Hangzhou, China

fYear

2015

fDate

23-25 May 2015

Firstpage

2108

Lastpage

2113

Abstract

The similar formation is a new control method of planar formation. A distributed controller base on the similar formations is designed in this paper. Firstly, the formation control problem of multi-agent system can be transformed into the stability problem of the multi-agent system. Then the multi-agent system is decomposed into several subsystems, and the stability of each subsystem is analyzed. After that, the proportional controllers are designed to ensure the stability of the first order integral system and the stability of the first order integral system with time-delay respectively. The control parameter to make the entire system stable can be obtained from the intersection of the stability range of each subsystem. Finally, the simulation examples reveal the effectiveness of the designed controller.

Keywords

control system analysis; delays; distributed control; multi-agent systems; position control; proportional control; stability; control parameter; distributed controller base; distributed cooperative control method; first order integral system; multiagent system; planar formation; proportional controllers; stability problem; time-delay; complex Laplace matrix; distributed controller; multi-agent system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7162269

Filename

7162269